A container holding a set of related constraints. More...

#include <constraint_set.h>

Inheritance diagram for ifopt::ConstraintSet:

[legend]

Public Types
using	Ptr = std::shared_ptr< ConstraintSet >

using	VariablesPtr = Composite::Ptr

Public Types inherited from ifopt::Component
using	Jacobian = Eigen::SparseMatrix< double, Eigen::RowMajor >

using	Ptr = std::shared_ptr< Component >

using	VecBound = std::vector< Bounds >

using	VectorXd = Eigen::VectorXd

Public Member Functions
	ConstraintSet (int n_constraints, const std::string &name)
	Creates constraints on the variables `x`. More...

virtual void	FillJacobianBlock (std::string var_set, Jacobian &jac_block) const =0
	Set individual Jacobians corresponding to each decision variable set. More...

Jacobian	GetJacobian () const final
	The matrix of derivatives for these constraints and variables. More...

void	LinkWithVariables (const VariablesPtr &x)
	Connects the constraint with the optimization variables. More...

virtual	~ConstraintSet ()=default

Public Member Functions inherited from ifopt::Component
	Component (int num_rows, const std::string &name)
	Creates a component. More...

virtual VecBound	GetBounds () const =0
	Returns the "bounds" of this component. More...

std::string	GetName () const
	Returns the name (id) of this component. More...

int	GetRows () const
	Returns the number of rows of this component. More...

virtual VectorXd	GetValues () const =0
	Returns the "values" of whatever this component represents. More...

virtual void	Print (double tolerance, int &index_start) const
	Prints the relevant information (name, rows, values) of this component. More...

void	SetRows (int num_rows)
	Sets the number of rows of this component. More...

virtual	~Component ()=default

Protected Member Functions
const VariablesPtr	GetVariables () const
	Read access to the value of the optimization variables. More...

Private Member Functions
virtual void	InitVariableDependedQuantities (const VariablesPtr &x_init)
	Initialize quantities that depend on the optimization variables. More...

void	SetVariables (const VectorXd &x) final
	Sets the optimization variables from an Eigen vector. More...

Private Attributes
VariablesPtr	variables_

Additional Inherited Members
Static Public Attributes inherited from ifopt::Component
static const int	kSpecifyLater = -1

Detailed Description

A container holding a set of related constraints.

This container holds constraints representing a single concept, e.g. n constraints keeping a foot inside its range of motion. Each of the n rows is given by: lower_bound < g(x) < upper_bound

These constraint sets are later then stitched together to form the overall problem.

See also: Component

Definition at line 51 of file constraint_set.h.

Member Typedef Documentation

◆ Ptr

using ifopt::ConstraintSet::Ptr = std::shared_ptr<ConstraintSet>

Definition at line 53 of file constraint_set.h.

◆ VariablesPtr

using ifopt::ConstraintSet::VariablesPtr = Composite::Ptr

Definition at line 54 of file constraint_set.h.

Constructor & Destructor Documentation

◆ ConstraintSet()

ifopt::ConstraintSet::ConstraintSet	(	int	n_constraints,
		const std::string &	name
	)

Creates constraints on the variables x.

Parameters

n_constraints	The number of constraints.
name	What these constraints represent.

Definition at line 45 of file leaves.cc.

◆ ~ConstraintSet()

virtual ifopt::ConstraintSet::~ConstraintSet ( )

virtualdefault

Member Function Documentation

◆ FillJacobianBlock()

virtual void ifopt::ConstraintSet::FillJacobianBlock	(	std::string	var_set,
		Jacobian &	jac_block
	)		const

pure virtual

Set individual Jacobians corresponding to each decision variable set.

Parameters

var_set	Set of variables the current Jacobian block belongs to.
jac_block	Columns of the overall Jacobian affected by var_set.

A convenience function so the user does not have to worry about the ordering of variable sets. All that is required is that the user knows the internal ordering of variables in each individual set and provides the Jacobian of the constraints w.r.t. this set (starting at column 0). GetJacobian() then inserts these columns at the correct position in the overall Jacobian.

If the constraint doen't depend on a var_set, this function should simply do nothing.

Attention: jac_bock is a sparse matrix, and must always have the same sparsity pattern. Therefore, it's better not to build a dense matrix and call .sparseView(), because if some entries happen to be zero for some iteration, that changes the sparsity pattern. A more robust way is to directly set as follows (which can also be set =0.0 without erros): jac_block.coeffRef(1, 3) = ...

Implemented in ifopt::ExCost, and ifopt::ExConstraint.

◆ GetJacobian()

ConstraintSet::Jacobian ifopt::ConstraintSet::GetJacobian ( ) const

finalvirtual

The matrix of derivatives for these constraints and variables.

Assuming n constraints and m variables, the returned Jacobian has dimensions n x m. Every row represents the derivatives of a single constraint, whereas every column refers to a single optimization variable.

This function only combines the user-defined jacobians from FillJacobianBlock().

Implements ifopt::Component.

Definition at line 51 of file leaves.cc.

◆ GetVariables()

const VariablesPtr ifopt::ConstraintSet::GetVariables ( ) const

inlineprotected

Read access to the value of the optimization variables.

This must be used to formulate the constraint violation and Jacobian.

Definition at line 115 of file constraint_set.h.

◆ InitVariableDependedQuantities()

virtual void ifopt::ConstraintSet::InitVariableDependedQuantities ( const VariablesPtr & x_init )

inlineprivatevirtual

Initialize quantities that depend on the optimization variables.

Parameters

x	A pointer to the initial values of the optimization variables.

Sometimes the number of constraints depends on the variable representation, or shorthands to specific variable sets want to be saved for quicker access later. This function can be overwritten for that.

Definition at line 128 of file constraint_set.h.

◆ LinkWithVariables()

void ifopt::ConstraintSet::LinkWithVariables ( const VariablesPtr & x )

Connects the constraint with the optimization variables.

Parameters

x	A pointer to the current values of the optimization variables.

The optimization variable values are necessary for calculating constraint violations and Jacobians.

Definition at line 80 of file leaves.cc.

◆ SetVariables()

void ifopt::ConstraintSet::SetVariables ( const VectorXd & x )

inlinefinalprivatevirtual

Sets the optimization variables from an Eigen vector.

This is only done for Variable, where these are set from the current values of the solvers.

Implements ifopt::Component.

Definition at line 131 of file constraint_set.h.

Member Data Documentation

◆ variables_

VariablesPtr ifopt::ConstraintSet::variables_

private

Definition at line 115 of file constraint_set.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Ptr

◆ VariablesPtr

Constructor & Destructor Documentation

◆ ConstraintSet()

◆ ~ConstraintSet()

Member Function Documentation

◆ FillJacobianBlock()

◆ GetJacobian()

◆ GetVariables()

◆ InitVariableDependedQuantities()

◆ LinkWithVariables()

◆ SetVariables()

Member Data Documentation

◆ variables_